CN116687471A - Surgical instrument and method for controlling movement range thereof - Google Patents

Abstract

The application provides a surgical instrument and a movement range control method thereof, and relates to the technical field of medical instruments; the driving box comprises a driving mechanism, the driving mechanism comprises a driving piece and a moving seat, and the moving seat is driven to rotate by the driving piece; the driving mechanism further comprises a rotating seat and a limiting piece, and the rotating seat can trigger the limiting piece by rotating a first angle range along a first direction; the adapter comprises an adapter seat and a connecting wheel, and the movable seat is abutted against the connecting wheel along the axial direction after the adapter seat is detachably connected with the driving box; the instrument box comprises an instrument shaft, and the connecting wheel is pressed down to release the rotation restriction after the adapter is detachably connected with the instrument box. The technical problems of poor jointing efficiency and reliability caused by unrestricted respective movement ranges when the instrument box and the driving box are in butt joint through the adapter are solved, the jointing time is shortened, and the jointing technical effect can be smoothly realized.

Description

Surgical instrument and method for controlling movement range thereof

Technical Field

The application relates to the technical field of medical instruments, in particular to a surgical instrument and a movement range control method thereof.

Background

Surgical robots are a research hotspot in the field of medical instruments in recent years, can assist in minimally invasive surgery, and have been widely accepted in the market due to the advantages of small surgical wounds, low bleeding amount, accurate surgical operation, quick recovery of patients, and the like. In the working process of the surgical robot, a doctor sends out instructions through the main control end so as to control the plurality of slave mechanical arms to cooperate with each other and complete the operation at the appointed position. The slave mechanical arm is generally integrated with a plurality of degrees of freedom and is provided with a surgical instrument, and the slave mechanical arm can enable an end effector of the surgical instrument to reach a preset position by adjusting the posture of each joint so as to meet the requirements of cutting, stitching and other actions under different surgical positions.

To provide a sterile field of operation at the time of the surgical procedure, a sterile barrier may be placed between the non-sterile system and the sterile surgical field. It is therefore desirable to provide a sterile coupling point by means of a sterile component, such as an instrument sterile adapter. During a surgical procedure, surgical instruments are allowed to be removed or exchanged with other surgical instruments.

In the prior art, the driving box is required to be jointed with the adapter, and then the adapter is required to be in butt joint with the instrument box, so that the driving box, the adapter and the instrument box are connected together to realize axial transmission of force; however, since the respective movement ranges are not limited, the time for finding the docking position is long in the course of implementing docking in pairs, resulting in poor coupling efficiency and reliability.

Disclosure of Invention

The application aims to provide a surgical instrument and a movement range control method thereof, which are used for solving the technical problems of poor joint efficiency and reliability caused by unrestricted movement ranges of an instrument box and a driving box when the instrument box and the driving box are in butt joint through an adapter in the prior art.

A first object of the present application is to provide a surgical instrument comprising: a drive cassette, an instrument cassette, and an adapter connecting the two;

the drive box comprises a drive mechanism, the drive mechanism comprises a drive piece and a movable seat connected to an output shaft of the drive piece, the movable seat is configured to be triggered to rebound along the axial direction when being pressed, and the movable seat is driven to rotate by the drive piece; the driving mechanism further comprises a rotating seat and a limiting piece, wherein the rotating seat is coaxially rotated with the moving seat, the limiting piece can be triggered to rotate by the rotating seat, the rotating seat rotates in a first direction within a first angle range, the limiting piece can be triggered, and the rotating seat and the limiting piece are limited to rotate when rotating in a second direction within a second angle range;

the adapter comprises an adapter seat and a connecting wheel movably arranged on the adapter seat, and the movable seat is abutted against the connecting wheel along the axial direction after the adapter seat is detachably connected with the driving box; the fifth wheel is configured to be limited in rotation and to interface when rotated in the first direction through a third angular range;

the device box comprises a device shaft, the adapter seat is detachably connected with the device box, the connecting wheel is pressed down to release rotation limitation, and the driving piece is used for driving the connecting wheel to rotate until the connecting wheel is in butt joint with the device shaft;

wherein the sum of the first and second angular ranges is greater than the third angular range.

Further, the outer wall of the rotating seat is provided with a first blocking feature;

the inner wall of the limiting piece is provided with a second blocking feature, and the second blocking feature is provided with a first limit and a second limit which are opposite;

the rotating seat rotates along the first direction in the first angle range to be capable of abutting against and triggering the first limit of the limiting piece.

Further, a third blocking feature arranged opposite to the second blocking feature is further arranged on the outer wall of the limiting piece;

the periphery of the limiting piece is provided with a fixed blocking feature;

the third blocking feature is configured to urge the limiter to rotate the second angular range and abut the fixed blocking feature while the swivel trigger the first limit such that the swivel is limited from rotating.

Further, the driving piece is provided with an encoder;

the encoder is used for recording that the driving piece rotates to a first limiting position of the first limiting position along the first direction, recording that the driving piece rotates to a second limiting position of the second limiting position along a second direction opposite to the first direction, and obtaining the intermediate point of the first limiting position and the second limiting position to obtain an initial zero position.

Further, the adapter is provided with a mounting hole for accommodating the connecting wheel, and the hole wall of the mounting hole extends inwards along the radial direction to form a flange part;

the fifth wheel includes a first wheel portion and a second wheel portion, a gap between the first wheel portion and the second wheel portion being greater than a thickness of the flange portion such that the flange portion is slidable along the mounting hole between the first wheel portion and the second wheel portion.

Further, at least two groups of sliding tables with gradually increased or decreased inclined angles are arranged on the surface of the flange part, which faces the movable seat, in a protruding mode, and the at least two groups of sliding tables are arranged in a central symmetry mode;

the second wheel part is arranged close to the movable seat, the outer edge of the second wheel part is recessed inwards along the radial direction to form limit openings, and the number of the limit openings is equal to that of the sliding tables;

the limiting opening is aligned with the sliding table and clamped and limited to rotate, and the limiting opening is separated from the sliding table in a dislocation mode to release rotation limitation.

Further, the two groups of sliding tables are arranged opposite to each other, and correspondingly, the third angle range reaches 0-180 degrees;

or, the sliding tables are arranged into four groups, the four groups of sliding tables are uniformly arranged, and correspondingly, the third angle range reaches 0-90 degrees.

Further, the first blocking feature and the second blocking feature are boss structures arranged on opposite surfaces of the rotating seat and the limiting piece respectively, and accordingly, the first angle range is greater than or equal to 0 degrees and smaller than 360 degrees;

the second blocking feature is disposed opposite the third blocking feature, and the third blocking feature extends outwardly along an outer wall of the limiter to protrude from a bottom surface of the limiter, and correspondingly, the second angular range is greater than or equal to 0 ° and less than 360 °.

Further, the driving mechanisms are arranged in a plurality of groups, the driving members in the driving mechanisms are configured to provide independent rotary motion and are fixedly installed through quick-change seats, and the top ends of the quick-change seats are provided with fixed blocking features;

the outer peripheral sides of the plurality of groups of driving mechanisms are covered with shells, the movable seat is provided with engagement features for being in butt joint with the connecting wheels, and the engagement features protrude out of the top surface of the shells in an initial state;

correspondingly, the connecting wheels and the instrument shafts are arranged in a plurality of groups and are arranged in one-to-one correspondence with the driving mechanisms.

Further, a first positioning structure is arranged on the opposite surfaces of the shell and the adapter seat, and a first buckle connecting structure is arranged between the shell and the adapter seat, so that the shell and the adapter seat are connected through the first buckle connecting structure while positioning is realized through the first positioning structure;

the surface of the adapter seat, which is opposite to the base of the instrument box, is provided with a second positioning structure, a second buckle connecting structure is arranged between the adapter seat and the base of the instrument box, and the adapter seat and the base of the instrument box are connected through the second buckle connecting structure while positioning is realized through the second positioning structure;

the adapter is provided with a conducting strip, the base is provided with a spring contact pin, and the spring contact pin can be in communication connection with the conducting strip when the second buckle connection structure is connected.

Further, the first positioning structure or the second positioning structure comprises a conical protrusion and a conical hole spliced with the conical protrusion.

The surgical instrument provided by the application has at least the following beneficial effects:

the movable seat is driven to rotate by the driving piece, and the driving mechanism also comprises a rotating seat which is coaxially rotated with the movable seat and a limiting piece which can be triggered to rotate by the rotating seat, so that the movement range of the driving piece can be controlled through the arrangement of the rotating seat and the limiting piece, and the movement range is the sum of a first angle range of the rotating seat rotating along a first direction and a second angle range of the rotating seat rotating along the first direction; after the adapter seat is detachably connected with the driving mechanism, the movable seat is triggered to rebound and axially abuts against the connecting wheel, and the connecting wheel is limited to rotate and realize butt joint when rotating a third angle range along a first direction, so that the rotation is stopped when the connecting wheel rotates the third angle range along the first direction, and the joint time is shortened because the sum of the first angle range and the second angle range is larger than the third angle range, namely the butt joint range of the adapter is smaller than the movement range of the driving piece; after the adapter seat is detachably connected with the instrument box, the connecting wheel is pressed down to release rotation restriction, and at the moment, the driving piece can drive the movable seat and the connecting wheel to rotate until the connecting wheel is in butt joint with the instrument shaft.

Therefore, the surgical instrument can realize the joint of the instrument box and the driving box through the adapter, and in the joint process of the adapter and the driving box, the joint failure condition caused by the fact that the joint range of the adapter exceeds the movement range of the driving piece can not occur because the joint range of the adapter is smaller than the movement range of the driving piece, so that the joint time is shortened, and the joint efficiency is improved; in the process of the joint of the adapter and the instrument box, as the connecting wheel is pressed down to release the rotation restriction, the movement range of the instrument shaft is unlimited, and the final movement range of the instrument shaft is influenced by the joint movement range of the instrument box and the movement range of the driving box, namely, the intersection of the two movement ranges, the reduction of the movement range caused by the superposition of the movement ranges of the three parts of the driving box, the instrument box and the adapter, or the complexity of the joint is avoided, and the movement range, the joint efficiency and the reliability of the instrument shaft are improved.

A second object of the present application is a method for controlling a range of motion of a surgical instrument, comprising the steps of:

the driving piece drives the rotating seat to rotate along the first direction, when the first blocking feature of the rotating seat touches the second blocking feature of the limiting piece, the rotating seat pushes the limiting piece to continuously rotate along the first direction, so that the third blocking feature of the limiting piece touches the fixed blocking feature until the rotating seat is limited to rotate, and the movement range of the output shaft of the driving piece is controlled to be more than 0 DEG and less than 720 DEG;

rotation of the fifth wheel in the adapter for engagement with the drive cassette is limited in a first direction and the range of motion is controlled between 0 and 180 degrees, rotation in a second direction opposite the first direction being unrestricted;

the movement range of the instrument shaft in the instrument box is controlled by the joint movement range of the instrument shaft and the movement range of the driving box.

The method for controlling the movement range of the surgical instrument provided by the application has at least the following beneficial effects:

the movement range of the driving piece is controlled to be more than 0 degrees and less than 720 degrees, and the movement range of the fifth wheel in the adapter along the first direction is controlled to be between 0 and 180 degrees, so that the butting range of the adapter is smaller than the movement range of the driving piece; meanwhile, the movement range of the instrument shaft in the instrument box is limited by the joint movement range of the instrument shaft and the movement range of the driving box, so that the movement range of the instrument shaft is smaller than the butting range of the adapter, and a joint point can be smoothly found for butting during butting operation.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a surgical instrument according to an embodiment of the present application;

FIG. 2 is one of the exploded schematic views of a surgical instrument provided in an embodiment of the present application;

FIG. 3 is a second exploded view of a surgical instrument according to an embodiment of the present application;

FIG. 4 is a schematic view of the structure of the drive cassette;

FIG. 5 is a schematic view of a portion of the structure of the drive cassette;

FIG. 6 is a top view of the drive cassette of FIG. 4;

FIG. 7 is a cross-sectional view taken along line A-A of FIG. 6;

FIG. 8 is a top view of the drive cassette of FIG. 5 without the movable mount shown;

FIG. 9 is another angular schematic view of the drive cassette of FIG. 5;

FIG. 10 is a schematic view of the structure of the adapter;

FIG. 11 is a schematic view of the fifth wheel;

FIG. 12 is a schematic front view of the adapter;

FIG. 13 is a schematic view of the back structure of the adapter;

FIG. 14 is a bottom view of the adapter of FIG. 10;

FIG. 15 is a cross-sectional view taken along line B-B of FIG. 14;

FIG. 16 is a cross-sectional view taken along line C-C of FIG. 14;

FIG. 17 is a schematic view of the back structure of the adapter;

FIG. 18 is a schematic view of the structure of the instrument pod;

FIG. 19 is a schematic view of the instrument pod of FIG. 18 with the housing not shown;

fig. 20 is a bottom view of the instrument pod of fig. 18.

Icon:

100-driving box; 110-a drive mechanism; 120-a housing; 130-quick-change seat; 111-driving member; 112-a mobile seat; 113-a swivel base; 114-a limit sleeve; 115-an elastic member; 131-a fixed blocking feature; 1111-an output shaft; 1121-a first engagement post; 1131-a first blocking feature; 1141-a second blocking feature; 1142-a third blocking feature;

200-an instrument box; 210-an instrument shaft; 220-a base; 230-an outer cover; 240-disc; 241-a second docking aperture;

300-an adapter; 310-an adapter; 320-connecting a wheel; 311-mounting holes; 321-a first wheel portion; 322-a second wheel portion; 3111-flange portion; 3112-a slipway; 3211-a second engagement post; 3221-a limit opening; 3222-a first docking aperture;

400-a first snap connection; 500-a second snap connection; 610-conical projections; 620-tapered hole.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang" and the like do not denote a requirement that the component be absolutely horizontal or overhang, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Example 1

Referring to fig. 1, the first embodiment provides a surgical instrument including a drive cassette 100, an instrument cassette 200, and an adapter 300 connecting the two. To the left side of the cartridge 200 is attached a shaft (not shown in the drawings) and a U-shaped recess is provided in the respective positions of the drive cartridge 100 and the cartridge 200 for the shaft to pass through. Wherein the shaft and surgical tool are controlled by the articulated wrist to allow the surgical tool to move in multiple degrees of freedom, such as rotation, pitch, or open and close. The surgical tool in this embodiment may be any of a variety of surgical tools including forceps, needle drivers, cautery devices, cutting tools (ultrasonic blades), or ultrasonic probes, among others.

Referring to fig. 1 or 2, a first snap connection structure 400 is provided between the driving case 100 and the adapter 300, and a second snap connection structure 500 is provided between the adapter 300 and the instrument case 200, for realizing detachable connection between the three. The structures of the first buckle connection structure 400 and the second buckle connection structure 500 may be the same or different.

In this embodiment, the first buckle connection structure 400 and the second buckle connection structure 500 adopt the same structural style, the upper and lower sides of the adapter 300 are respectively provided with a clamping groove, the first buckle connection structure 400 and the second buckle connection structure 500 are respectively provided with a button assembly for being in plug-in fit with the clamping grooves, the locking operation can be realized by pressing the trigger button assembly, and the unlocking operation can be realized by loosening the button assembly.

Specifically, the button assembly comprises a lock tongue arranged in opposite directions and a button arranged corresponding to the lock tongue, and an elastic piece 115 is arranged between the lock tongue and the button frame; the lock tongue is arranged opposite to the corresponding clamping groove; when the locking device is operated, the push button can trigger the lock tongue to enable the elastic piece 115 to be compressed, so that the oppositely arranged lock tongue can move relatively to be separated from the clamping groove to realize unlocking operation, and the release button enables the oppositely arranged lock tongue to move oppositely to be clamped into the clamping groove to realize locking operation in the process that the elastic piece 115 is restored to the initial state.

Further, a first positioning structure is arranged between the driving box 100 and the adapter 300, and a second positioning structure is arranged between the adapter 300 and the instrument box 200, so that the corresponding two parts can be connected through corresponding buckle connection structures while positioning is realized through corresponding positioning structures.

Referring to fig. 2 or 3, the first positioning structure or the second positioning structure includes a tapered protrusion 610 and a tapered hole 620 inserted into the tapered protrusion 610, wherein the tapered hole 620 has a flared entrance; the former is more advantageous for the insertion of the tapered protrusions 610 into the tapered holes 620 through the flared entrance and is more advantageous for alignment than the prior art that uses a cylindrical and circular hole mating orientation.

Illustratively, the top end of the drive cassette 100 is provided with a tapered protrusion 610, and correspondingly, the bottom end of the adapter 300 is provided with a tapered hole 620; the adaptor 300 has a tapered protrusion 610 at the top end and tapered holes 620 at the bottom end and the instrument pod 200, respectively.

In this embodiment, the tapered protrusions 610 and the tapered holes 620 are all arranged in three groups, and the three groups of tapered protrusions 610 or the tapered holes 620 are arranged in a triangular stable structure, and of course, two or more groups may be arranged, and may be selectively arranged as needed.

The accurate positioning of the driving box 100, the instrument box 200 and the adapter 300 can be realized through the positioning structure, and meanwhile, stable and reliable mechanical connection among the three can be realized by means of the buckle connection structure.

Further, the adaptor 310 is provided with a spring contact pin, the base 220 of the instrument box 200 is provided with a conductive sheet, and the second buckle connection structure realizes connection and simultaneously enables the spring contact pin to be in communication connection with the conductive sheet.

The specific structure of the drive cassette 100 will be described in detail below.

Referring to fig. 4, the driving box 100 includes driving mechanisms 110, the driving mechanisms 110 are arranged in a plurality of groups, a housing 120 is coated on the outer circumference side of the driving mechanisms 110, the upper end of the housing 120 is opened, and a quick-change seat 130 is arranged at the upper end opening for fixedly mounting the driving mechanisms 110; the specific number of groups of the driving mechanisms 110 is set as required, and in this embodiment, the driving mechanisms 110 are set to four groups and are arranged in a rectangular shape to provide independent rotation motion.

Referring to fig. 5 to 7, the driving mechanism 110 includes a driving member 111, an output shaft 1111 of the driving member 111 is provided with a moving seat 112, the moving seat 112 is configured to be triggered to rebound along an axial direction thereof when being pressed, the moving seat 112 is driven to rotate by the driving member 111, a rotating seat 113 capable of coaxially rotating is provided below the moving seat 112, and a limit sleeve 114 is provided on an outer peripheral side of the rotating seat 113.

When the device works, the driving piece 111 rotates to drive the movable seat 112 and the rotary seat 113 to synchronously rotate, wherein the rotary seat 113 triggers the rotation of the limit sleeve 114 when a certain condition is reached. Alternatively, the driving member 111 may be a motor.

Referring to fig. 7, an elastic member 115 is disposed between the movable seat 112 and the output shaft 1111, when the movable seat 112 is pressed, such as being pressed down, the elastic member 115 can be compressed to rebound, that is, be pressed down, otherwise, when the external force is removed, the movable seat 112 reversely rebounds to the initial state under the elastic force of the elastic member 115. Alternatively, the elastic member 115 may be a spring, where the lower end of the spring is sleeved on the output shaft 1111, and the other end abuts against the lower surface of the movable seat 112.

Referring to fig. 6, two sets of first engaging protrusions 1121 are disposed on the upper surface of the movable seat 112, fig. 4 shows that the movable seat 112 corresponding to the three sets of driving mechanisms 110 is in an initial state, at this time, the first engaging protrusions 1121 protrude from the top surface of the quick-change seat 130 in the initial state, and the movable seats 112 of the remaining sets of driving mechanisms 110 are in an axially rebound state triggered by being pressed, at this time, the first engaging protrusions 1121 retract into the top surface of the quick-change seat 130.

With continued reference to fig. 6, the first engagement posts 1121 are provided in two sets and are disposed 180 ° for interfacing with corresponding features on the adapter 300. The number of the first engagement projections 1121 is not limited to two, but may be three or more.

Further, referring to fig. 8 and 9, the outer wall of the rotary seat 113 is provided with a first blocking feature 1131, the inner wall of the limit sleeve 114 is provided with a second blocking feature 1141, and the second blocking feature 1141 has a first limit and a second limit opposite to each other; the movable seat 112 rotates along the first direction by a first angle range to abut against and trigger the first limit. The first direction of this embodiment is clockwise.

With continued reference to fig. 8 and 9, the outer wall of the stop collar 114 is also provided with a third blocking feature 1142 disposed opposite the second blocking feature 1141; the periphery of the rotary seat 113 is fixedly provided with a fixed blocking feature 131; the third blocking feature 1142 is configured to abut the fixed blocking feature 131 when the movable mount 112 is rotated through the second angular range such that the movable mount 112 is restricted from rotating. Wherein the fixed blocking feature 131 is disposed on the top surface of the quick-change holder 130.

Specifically, the motor may be at any position in the initial state, the motor drives the movable seat 112 and the rotary seat 113 to rotate clockwise by a first angle range to abut against and trigger the first limit of the second blocking feature 1141 of the stop collar 114, so as to push the stop collar 114 to rotate clockwise, when the third blocking feature 1142, which is opposite to the second blocking feature 1141, abuts against the fixed blocking feature 131 when the stop collar 114 rotates by a second angle range, the rotation is limited, so that the rotation is stopped, and in this embodiment, the achievable rotation range of the movable seat 112 is the sum of the first angle range and the second angle range, and the sum of the two can be approximately 720 ° at maximum.

Illustratively, the first blocking feature 1131, the second blocking feature 1141, the third blocking feature 1142, and the fixed blocking feature 131 may be bosses or studs, etc., but may be other structures capable of performing the foregoing functions. Wherein the third blocking feature 1142 extends along the outer wall of the stop collar 114 and toward the top surface of the quick-change seat 130 to protrude from the bottom surface of the stop collar 114.

Further, an encoder is arranged on the motor; the encoder is used for recording that the motor rotates to a first limiting position of a first limit in the clockwise direction and is used for recording that the motor rotates to a second limiting position of a second limit in the anticlockwise direction, an initial zero position is obtained by obtaining the middle point between the first limiting position and the second limiting position, and after the motor finds the initial zero position, the motor moves to the second limiting position and stops, so that preparation is made for subsequent butt joint operation.

The specific structure of the drive cassette 100 has been described in detail above, and the adapter 300 and the portion that is in abutting engagement with the drive cassette 100 are described in detail below.

Referring to fig. 10 and 11, the adapter 300 includes an adapter seat 310, a plurality of mounting holes 311 are formed in the adapter seat 310, the number of the mounting holes 311 is the same as that of the driving mechanism 110, and the mounting holes 311 are arranged in a one-to-one correspondence manner, and a connecting wheel 320 is movably disposed in each mounting hole 311.

Referring to fig. 11, 12, 14 and 15, the hole wall of the mounting hole 311 extends radially inward to form a flange portion 3111, the fifth wheel 320 includes a first wheel portion 321, a second wheel portion 322 and a lever portion connected therebetween, and a gap between the first wheel portion 321 and the second wheel portion 322 is greater than a thickness of the flange portion 3111 to enable the fifth wheel 320 to move along the mounting hole 311, wherein a size of the gap between the first wheel portion 321 and the second wheel portion 322 may be determined by a height of the lever portion.

Referring to fig. 11 to 13, the surface of the flange portion 3111 facing the moving seat 112, that is, the lower surface of the flange portion 3111 is protruded with at least two sets of sliding tables 3112 with gradually increasing or decreasing inclined angles, and the at least two sets of sliding tables 3112 are arranged in a central symmetry; the second wheel portion 322 is arranged close to the movable seat 112, the outer edge of the second wheel portion 322 is recessed inwards along the radial direction to form limit openings 3221, and the number of the limit openings 3221 is equal to that of the sliding tables 3112; the limiting opening 3221 and the sliding table 3112 are aligned and clamped to be rotationally limited, and the limiting opening 3221 and the sliding table 3112 are separated in a dislocation mode to release the limitation.

In this embodiment, when the fifth wheel 320 is set to rotate clockwise to a maximum angle, the limiting opening 3221 is aligned with the sliding table 3112 to be rotationally limited, otherwise, the rotation of the fifth wheel 320 in the counterclockwise direction is not limited.

Illustratively, the bottom surface of the sliding table 3112 may be a slant surface, or an arc-shaped convex surface, or an arc-shaped concave surface, or may be a combination of slant surfaces and arc-shaped convex surfaces.

In this embodiment, two sets of sliding tables 3112 are provided, and the two sets of sliding tables 3112 are arranged in a central symmetry manner, and at this time, the angle range for realizing locking by rotating the connecting wheel 320 clockwise to the maximum angle is 0-180 °, and the angle range can shorten the engagement time; alternatively, the sliding tables 3112 may be four groups, and the four groups of sliding tables 3112 are arranged in a central symmetry, and at this time, the connecting wheel 320 rotates clockwise to a maximum angle to achieve a locking angle range of 0 ° to 90 °, which further shortens the engagement time.

In the course of turning the fifth wheel 320 clockwise to the maximum angle as shown in fig. 14, 16 and 17, when the side surface of the limit opening 3221 contacts the side surface of the slide table 3112 having the maximum bevel angle, the side surface of the slide table 3112 having the maximum bevel angle will limit the turning of the fifth wheel 320 (the side surface opposite to the side surface of the slide table 3112 having the maximum bevel angle is not limited), that is, the fifth wheel 320 stops turning; at this time, the fifth wheel 320 may be rotated counterclockwise, and in the counterclockwise rotation, while the side surface of one side of the limit opening 3221 is separated from the side surface of the side of the slide table 3112 having the largest bevel angle, the surface of the other side surface close to the limit opening 3221, that is, the upper surface of the second wheel portion 322, will gradually slide along the bevel of the slide table 3112 in the direction in which the bevel angle gradually increases until it is separated from the slide table 3112.

Referring to fig. 17, the bottom of the second wheel portion 322 is provided with first docking holes 3222 for engaging with the first engaging protrusions 1121, and the number of the first docking holes 3222 is equal to the number of the first engaging protrusions 1121, and in this embodiment, the first docking holes 3222 are also provided in two groups and are provided at 180 °. As a variant, an engagement boss may be provided at the bottom of the second wheel portion 322, and correspondingly, a docking hole may be provided at the top end of the movable seat 112.

Referring to fig. 11, the top end of the first wheel 321 is provided with second engaging protrusions 3211, and the second engaging protrusions 3211 are arranged in two groups and 180 °.

In combination with the above, the docking process of the drive cassette 100 and the adapter 300 is:

the adapter 300 is placed right above the driving box 100, and the clamping groove in the first buckle connection structure 400 is aligned with the button assembly, and meanwhile, the first positioning structure is aligned, and when positioning is realized through the first positioning structure, the adapter 300 can be detachably connected with the driving box 100, namely, mechanically connected with the driving box 100 through the first buckle connection structure 400; when the movable seat 112 is pressed by the connecting wheel 320 to be pressed downwards to rebound while the movable seat is detachably connected with the connecting wheel 320, the connecting wheel 320 is propped up to be contacted with any position of the flange 3111, and the movable seat cannot be moved upwards continuously; at this time, a control switch on the drive cassette 100 may be triggered, triggering the adapter 300 engagement procedure;

the motor starts to move from the second limit position to drive the movable seat 112 and the rotary seat 113 to rotate, the movable seat 112 abuts against the fifth wheel 320 under the action of the spring, friction exists between the movable seat 112 and the fifth wheel 320, the fifth wheel 320 rotates under the action of the friction, when the limit opening 3221 of the fifth wheel 320 moves to the limit of the sliding table 3112 of the adapter 300, the fifth wheel 320 moves upwards under the action of the spring of the movable seat 112, so as to realize the limit locking of the fifth wheel 320 and the adapter 300, and therefore the first joint convex column 1121 and the first butt joint hole 3222 are butt-jointed within 0-180 degrees.

It should be noted that, each driving mechanism 110 may be docked at the same time, or may be docked sequentially, and specifically, the control setting may be performed by a controller.

The specific structure of the adapter 300 has been described in detail above, and the instrument pod 200 and the portion that is in abutting engagement with the adapter 300 are described in detail below.

Referring to fig. 18 and 19, the instrument cartridge 200 includes the instrument shafts 210, and the number of the instrument shafts 210 is the same as that of the driving mechanisms 110 and is arranged in one-to-one correspondence. The instrument box 200 further includes a base 220 and a cover 230, wherein the base 220 and the cover 230 cooperate to define a relatively sealed installation space. Wherein the instrument shaft 210 is rotatably coupled to the base 220.

Referring to fig. 20, the bottom end of each instrument shaft 210 is further fixedly sleeved with a disc 240, and the disc 240 is provided with second docking holes 241 for being engaged with the second engaging protrusions 3211, the number of the second docking holes 241 is equal to that of the second engaging protrusions 3211, and in this embodiment, the second docking holes 241 are also arranged in two groups and are arranged at 180 °. As a variant, engagement studs may be provided on the bottom of the disc 240, and correspondingly, abutment holes may be provided on the top of the first wheel portion 321. Wherein, the butt joint hole can be set as a slotted hole or a U-shaped slotted hole so as to realize butt joint.

In combination with the above, the docking process of the instrument box 200 and the adapter 300 is:

the instrument box 200 is arranged right above the adapter 300, the clamping groove in the second buckle connecting structure 500 is aligned with the button assembly, the second positioning structure is aligned, and the adapter 300 and the instrument box 200 can be detachably connected, namely mechanically connected, through the second buckle connecting structure 500 while positioning is realized through the second positioning structure; while the two are detachably connected, the movable seat 112 is pressed by the disc 240 to be pressed downwards to rebound, the connecting wheel 320 is pushed out of the sliding table 3112 downwards, at this time, the connecting wheel 320 is completely separated from the sliding table 3112 limit of the adapter 300, and the sliding table 3112 limit no longer plays a role in the movement of the connecting wheel 320;

the motor simultaneously drives the movable base 112 and the connecting wheel 320 to rotate clockwise until the second engagement protrusion 3211 engages with the second docking hole 241.

When the instrument cartridge 200 is docked with the adapter 300, the docking ranges of the respective instrument shafts 210 are not uniform due to the limitation of the mechanical joints.

In summary, the surgical instrument of the present embodiment can realize the engagement of the instrument box 200 and the drive box 100 by the adapter 300, and in the process of the engagement of the adapter 300 and the drive box 100, the engagement failure condition caused by the fact that the engagement range of the adapter 300 exceeds the movement range of the drive piece 111 is avoided because the engagement range of the adapter 300 is smaller than the movement range of the drive piece 111, so that the engagement time is shortened, and the engagement efficiency is improved; during the engagement of the adapter 300 with the instrument box 200, since the fifth wheel 320 is depressed to release the rotational restriction, which limits the range of motion of the instrument shaft 210, the final range of motion of the instrument shaft 210 is affected by the range of motion of the instrument shaft 210 itself and the range of motion of the drive box 100, i.e., is the intersection of the ranges of motion of the two, thus avoiding the reduction in the range of motion or the complexity of engagement resulting from the superposition of the ranges of motion of the three components of the drive box 100, the instrument box 200 and the adapter 300, and improving the range of motion, the engagement efficiency and the reliability of the instrument shaft.

Example two

The second embodiment provides a method for controlling a movement range of a surgical instrument, including the steps of:

when the first blocking feature 1131 of the rotating seat 113 contacts the second blocking feature 1141 of the limiting member, the rotating seat 113 pushes the limiting sleeve 114 to rotate continuously along the first direction, so that the third blocking feature 1142 of the limiting sleeve 114 contacts the fixed blocking feature 131 until the rotating seat 113 is limited to rotate, and the movement range of the output shaft of the driving member 111 is controlled to be more than 0 ° and less than 720 °;

rotation of the fifth wheel 320 of the adapter 300 for engagement with the drive cassette 100 in a first direction is limited and the range of motion is controlled between 0-180, rotation in a second direction opposite the first direction is unrestricted;

the range of motion of the instrument shaft 210 in the instrument pod 200 is controlled by the range of motion of the articulation itself and the range of motion of the drive pod.

One specific embodiment of the application is: the movable seat 112 is driven to rotate by a motor, and the movable seat 112 is controlled to rotate within a range of more than 0 DEG and less than 720 DEG; after the driving box 100 is detachably connected with the adapter 300, the movable seat 112 and the connecting wheel 320 in the adapter 300 generate mutual extrusion force to form a rotary integral structure; the rotary integral structure is controlled to rotate clockwise and locked within the range of 0-180 degrees; after the adapter 300 is detachably connected with the instrument box 200, the rotary integral structure is unlocked; the rotary integral structure is controlled to rotate clockwise and stop when reaching the articulation range of the instrument itself.

In this embodiment, the movement range of the motor is controlled to be greater than 0 ° and less than 720 °, specifically greater than 360 ° and less than 720 °, and the clockwise movement range of the fifth wheel 320 in the adapter 300 is controlled to be between 0 ° and 180 °, so that the docking range of the adapter 300 is smaller than the movement range of the motor; meanwhile, the movement range of the instrument shaft 210 in the instrument box 200 is limited by the movement range of the joint and the movement range of the driving box 100, so that the movement range is smaller than the docking range of the adapter 300, and the joint point can be smoothly found for docking during docking operation.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims (12)

1. A surgical instrument, comprising: a drive cassette, an instrument cassette, and an adapter connecting the two;

the drive box comprises a drive mechanism, the drive mechanism comprises a drive piece and a movable seat connected to an output shaft of the drive piece, the movable seat is configured to be triggered to rebound along the axial direction when being pressed, and the movable seat is driven to rotate by the drive piece; the driving mechanism further comprises a rotating seat and a limiting piece, wherein the rotating seat is coaxially rotated with the moving seat, the limiting piece can be triggered to rotate by the rotating seat, the rotating seat rotates in a first direction within a first angle range, the limiting piece can be triggered, and the rotating seat and the limiting piece are limited to rotate when rotating in a second direction within a second angle range;

the adapter comprises an adapter seat and a connecting wheel movably arranged on the adapter seat, and the movable seat is abutted against the connecting wheel along the axial direction after the adapter seat is detachably connected with the driving box; the fifth wheel is configured to be limited in rotation and to interface when rotated in the first direction through a third angular range;

the device box comprises a device shaft, the adapter seat is detachably connected with the device box, the connecting wheel is pressed down to release rotation limitation, and the driving piece is used for driving the connecting wheel to rotate until the connecting wheel is in butt joint with the device shaft;

wherein the sum of the first and second angular ranges is greater than the third angular range.

2. A surgical instrument as recited in claim 1, wherein an outer wall of the swivel base is provided with a first blocking feature;

the inner wall of the limiting piece is provided with a second blocking feature, and the second blocking feature is provided with a first limit and a second limit which are opposite;

the rotating seat rotates along the first direction in the first angle range to be capable of abutting against and triggering the first limit of the limiting piece.

3. A surgical instrument as recited in claim 2, wherein the outer wall of the stop is further provided with a third blocking feature;

the periphery of the limiting piece is provided with a fixed blocking feature;

the third blocking feature is configured to urge the limiter to rotate the second angular range and abut the fixed blocking feature while the swivel trigger the first limit such that the swivel is limited from rotating.

4. A surgical instrument as recited in claim 2, wherein the driver has an encoder disposed thereon;

the encoder is used for recording that the driving piece rotates to a first limiting position of the first limiting position along the first direction, recording that the driving piece rotates to a second limiting position of the second limiting position along a second direction opposite to the first direction, and obtaining the intermediate point of the first limiting position and the second limiting position to obtain an initial zero position.

5. A surgical instrument according to any one of claims 1 to 4, wherein the adaptor is provided with a mounting hole for receiving the fifth wheel, the wall of the mounting hole extending radially inwardly to form a flange portion;

the fifth wheel includes a first wheel portion and a second wheel portion, a gap between the first wheel portion and the second wheel portion being greater than a thickness of the flange portion such that the flange portion is slidable along the mounting hole between the first wheel portion and the second wheel portion.

6. The surgical instrument according to claim 5, wherein the surface of the flange portion facing the movable seat is provided with at least two sets of sliding tables with gradually increasing or decreasing inclined surface angles in a protruding manner, and at least two sets of sliding tables are arranged in a central symmetry manner;

the second wheel part is arranged close to the movable seat, the outer edge of the second wheel part is recessed inwards along the radial direction to form limit openings, and the number of the limit openings is equal to that of the sliding tables;

the limiting opening is aligned with the sliding table and clamped and limited to rotate, and the limiting opening is separated from the sliding table in a dislocation mode to release rotation limitation.

7. A surgical instrument according to claim 6, wherein the sliding tables are arranged in two sets, the two sets being arranged opposite each other, the third angle ranging from 0 ° to 180 ° accordingly;

or, the sliding tables are arranged into four groups, the four groups of sliding tables are uniformly arranged, and correspondingly, the third angle range reaches 0-90 degrees.

8. A surgical instrument according to claim 3, wherein the first and second blocking features are each boss structures disposed on opposite sides of the swivel seat and the stop, respectively, the first angular range being 0 ° or more and less than 360 °;

the second blocking feature is disposed opposite the third blocking feature, and the third blocking feature extends outwardly along an outer wall of the limiter to protrude from a bottom surface of the limiter, and correspondingly, the second angular range is greater than or equal to 0 ° and less than 360 °.

9. A surgical instrument according to claim 1 or claim 3, wherein the drive mechanisms are arranged in a plurality of groups, the drives of the plurality of groups being configured to provide independent rotational movement and being fixedly mounted by a quick-change socket, the tip of the quick-change socket being provided with a fixed blocking feature;

the outer peripheral sides of the plurality of groups of driving mechanisms are covered with shells, the movable seat is provided with engagement features for being in butt joint with the connecting wheels, and the engagement features protrude out of the top surface of the shells in an initial state;

correspondingly, the connecting wheels and the instrument shafts are arranged in a plurality of groups and are arranged in one-to-one correspondence with the driving mechanisms.

10. The surgical instrument of claim 9, wherein the opposite faces of the housing and the adaptor are provided with first positioning structures, and a first buckle connecting structure is arranged between the two, and the two are connected through the first buckle connecting structure while being positioned through the first positioning structures;

the surface of the adapter seat, which is opposite to the base of the instrument box, is provided with a second positioning structure, a second buckle connecting structure is arranged between the adapter seat and the base of the instrument box, and the adapter seat and the base of the instrument box are connected through the second buckle connecting structure while positioning is realized through the second positioning structure;

the adapter is provided with a conducting strip, the base is provided with a spring contact pin, and the spring contact pin can be in communication connection with the conducting strip when the second buckle connection structure is connected.

11. The surgical instrument of claim 10, wherein the first positioning structure or the second positioning structure comprises a tapered protrusion and a tapered bore that mates with the tapered protrusion.

12. A method of controlling the range of motion of a surgical instrument according to claim 3, comprising:

the driving piece drives the rotating seat to rotate along the first direction, when the first blocking feature of the rotating seat touches the second blocking feature of the limiting piece, the rotating seat pushes the limiting piece to continuously rotate along the first direction, so that the third blocking feature of the limiting piece touches the fixed blocking feature until the rotating seat is limited to rotate, and the movement range of the output shaft of the driving piece is controlled to be more than 0 DEG and less than 720 DEG;

rotation of the fifth wheel in the adapter for engagement with the drive cassette is limited in a first direction and the range of motion is controlled between 0 and 180 degrees, rotation in a second direction opposite the first direction being unrestricted;

the movement range of the instrument shaft in the instrument box is controlled by the joint movement range of the instrument shaft and the movement range of the driving box.